16 311 Introduction to Robotics Lab 2 Robot

16 -311: Introduction to Robotics Lab 2 – Robot Vision January 21, 2015 Sarah Tan 16 -311 Introduction to Robotics – Lab 2, p. 1

Thresholding Making a binary, black-and-white image. Given an image and a threshold value, Set all pixels of value ≤ threshold to 0 Set all pixels of value > threshold to 255 (or just 1) 0 128 16 -311 Introduction to Robotics – Lab 2, p. 2 255

Thresholding threshold(image, 75); Every pixel with value lower than 75: set to 0 0 75 Every pixel with value higher than 75: set to 255 128 16 -311 Introduction to Robotics – Lab 2, p. 3 255

Thresholding Good for removing noise and artifacts. Of course, overdoing it would lose you precious details. 0 0 255 128 16 -311 Introduction to Robotics – Lab 2, p. 4 255

Segmentation: A program that segments a binary image into connected components Algorithm – Double Raster Scan in Notes http: //www. vision. ee. ethz. ch/teaching/sadalink/539. jpg

What you’re doing Building a vision pipeline to estimate the distance to two targets Targets have tennis ball in known square pattern Steps: - Thresholding - Segmentation - Filtering / Data Association - Determining Distance by Scale and Perspective 16 -311 Introduction to Robotics – Lab 2, p. 6

Example 1 3 2 4 2 ft away 16 -311 Introduction to Robotics – Lab 2, p. 7

Grading Part 1 (10 points) Matlab and Image Basics (each question should be done in 2 -3 lines of Matlab Code) Take images of each of the target 2, 4, 8, 16 ft away Part 2 (90 points) Implement 3 functions • Thresholding, Segmentation and Filtering, Determining Distance to Target Use 3 functions on 8 Images from Part 1 to get segmented images and estimation on Distance to Target Clear and Well-documented code may improve your grade 16 -311 Introduction to Robotics – Lab 2, p. 8

Important stuff Due date Tuesday, January 27 th Handin a zip file of your submission on blackboard. Details can be found on the course website and lab pdf Start this lab EARLY! 16 -311 Introduction to Robotics – Lab 2, p. 9

Need help? Check out our piazza page! TA Office Hours In the REL See website for the schedule Email TA dlist (16311 -sp 15 -tas@lists. andrew) [Sarah Tan <sttan@andrew. cmu. edu>] 16 -311 Introduction to Robotics – Lab 2, p. 10